%0 Report
%T Stereo Matching using SGM on the GPU
%A Daniel Hernandez
%A Alejandro Chacon
%A Antonio Espinosa
%A David Vazquez
%A Juan Carlos Moure
%A Antonio Lopez
%A PUMPS
%D 2016
%F Daniel Hernandez2016
%O ADAS; 600.085; 600.087; 600.076
%O exported from refbase (http://refbase.cvc.uab.es/show.php?record=2776), last updated on Wed, 16 Nov 2016 10:40:31 +0100
%X Dense, robust and real-time computation of depth information from stereo-camera systems is a computationally demanding requirement for robotics, advanced driver assistance systems (ADAS) and autonomous vehicles. Semi-Global Matching (SGM) is a widely used algorithm that propagates consistency constraints along several paths across the image. This work presents a real-time system producing reliable disparity estimation results on the new embedded energy efficient GPU devices. Our design runs on a Tegra X1 at 42 frames per second (fps) for an image size of 640x480, 128 disparity levels, and using 4 path directions for the SGM method.
%K CUDA
%K Stereo
%K Autonomous Vehicle
%U http://refbase.cvc.uab.es/files/HCE2016b.pdf